Manual PD4-C (USB)
9 Operating modes
Version: 1.4.1 / 22.07.2016 / FIR-v1626
54
Bit 13
Bit 12
Bit 10
Description
0
0
1
Homing procedure is interrupted or not started
0
1
0
Homing is attained, but target is not reached
0
1
1
Homing procedure is completed successfully
1
0
0
Homing error occurred, velocity is not 0
1
0
1
Homing error occurred, velocity is 0
Object entries
The following objects are required to control this mode:
•
(Home Offset): Specifies the difference between the zero position of the application and the
reference point of the machine.
•
h
(Homing Method):
Method used for referencing (see "Reference run method")
•
h
:01
h
(Speed During Search For Switch):
The speed for the search for the switch
•
h
:02
h
(Speed During Search For Zero):
The speed for the search for the index
•
(Homing Acceleration):
Acceleration and deceleration for the reference run
•
h
(Limit Switch Tolerance Band):
After moving to the positive or negative limit switch, the motor controller permits a tolerance range
that the motor may not further travel. If this tolerance range is exceeded, the motor stops and the
motor controller changes to the "Fault" state. If limit switches can be activated during the reference
run, the tolerance range selected should be sufficiently large so that the motor does not leave the
tolerance range when braking. Otherwise, the reference run cannot be completed successfully.
After completion of the reference run, the tolerance range can be set back to "0" if this is required by
the application.
•
:01
h
(Minimum Current For Block Detection):
Minimum current threshold that, when exceeded, detects blocking of the motor at a block.
•
:02
h
(Period Of Blocking):
Specifies the time in ms that the motor is nevertheless still to travel against the block after block
detection.
•
:03
h
(Block Detection Time)
Specifies the time in ms that the current has to be at least above the minimum current threshold in
order to detect a block
Speeds of the reference run
The figure shows the speeds of the reference run using method 4 as an example:
